CPC B60W 40/103 (2013.01) [B60W 40/068 (2013.01); B60W 40/105 (2013.01); H04L 12/40 (2013.01); B60W 2552/40 (2020.02); B60W 2555/20 (2020.02); B60W 2556/45 (2020.02); H04L 2012/40215 (2013.01); H04L 2012/40273 (2013.01)] | 20 Claims |
1. A driving assistance apparatus comprising a processor having hardware, the processor being configured to:
acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped;
calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped;
determine whether the coefficient of sliding friction is equal to or smaller than a threshold; and
detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.
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